64 lines
2.5 KiB
C
64 lines
2.5 KiB
C
/*
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*========================================================================================
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* (C) Copyright 2019 ŔÎ "Äčŕęîíň"
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* ă. Ńŕíęň-Ďĺňĺđáóđă, Đîńńč˙
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*
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* Ôŕéë: pi.h
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*
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*========================================================================================
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*/
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#ifndef __PI_H__
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#define __PI_H__
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/*
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*----------------------------------------------------------------------------------------
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*Âęëţ÷ŕĺěűĺ ôŕéëű
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*----------------------------------------------------------------------------------------
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*/
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#include "iqmath.h"
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/*
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*----------------------------------------------------------------------------------------
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*Îáú˙âëĺíč˙ ěŕęđîńîâ
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*----------------------------------------------------------------------------------------
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*/
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/*------------------------------------------------------------------------------
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PI_GRANDO Macro Definition
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------------------------------------------------------------------------------*/
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#define PI_MACRO(v) \
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\
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/* proportional term */ \
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v.up = _IQmpy(v.Kp, (v.Ref - v.Fbk)); \
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\
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/* integral term */ \
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v.ui = (v.Out == v.v1)?(_IQmpy(v.Ki, v.up)+ v.i1) : v.i1; \
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v.i1 = v.ui; \
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\
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/* control output */ \
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v.v1 = v.up + v.ui + v.uCorr; \
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v.Out= _IQsat(v.v1, v.Umax, v.Umin); \
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/*
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*----------------------------------------------------------------------------------------
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*Îáú˙âëĺíč˙ ňčďîâ
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*----------------------------------------------------------------------------------------
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*/
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typedef struct {
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_iq Ref; // Input: reference set-point
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_iq Fbk; // Input: feedback
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_iq uCorr; // Input: Ęîđđĺęöč˙ âűőîäŕ, äë˙ óńňđŕíĺíč˙ ďĺđĺęđĺňíűő ńâ˙çĺé
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_iq Out; // Output: controller output
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_iq Kp; // Parameter: proportional loop gain
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_iq Ki; // Parameter: integral gain
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_iq Umax; // Parameter: upper saturation limit
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_iq Umin; // Parameter: lower saturation limit
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_iq up; // Data: proportional term
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_iq ui; // Data: integral term
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_iq v1; // Data: pre-saturated controller output
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_iq i1; // Data: integrator storage: ui(k-1)
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} PI_CONTROLLER;
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#endif // __PI_H__
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